A microprocessor based adaptive controller for robotic manipulators

摘要

The aim of the paper is to introduce a novel practical adaptive control design which achieves, at low cost, the fast sampling speeds necessary for robot axis control, by utilising a combination of low complexity algorithms together with a high efficiency implementation on a standard microprocessor. An industrial robot simulator is used to highlight the improvement in path tracking performance achieved by the adaptive controller as compared to its conventional fixed parameter counterpart.